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Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

Nottensteiner, Korbinian und Sachtler, Arne und Albu-Schäffer, Alin (2021) Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. Journal of Intelligent & Robotic Systems, 101 (49). Springer. doi: 10.1007/s10846-020-01303-z. ISSN 0921-0296.

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Offizielle URL: https://link.springer.com/article/10.1007/s10846-020-01303-z

Kurzfassung

Robotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

elib-URL des Eintrags:https://elib.dlr.de/142676/
Dokumentart:Zeitschriftenbeitrag
Titel:Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Nottensteiner, Korbiniankorbinian.nottensteiner (at) dlr.dehttps://orcid.org/0000-0002-6016-6235NICHT SPEZIFIZIERT
Sachtler, ArneArne.Sachtler (at) dlr.dehttps://orcid.org/0000-0003-4974-4134NICHT SPEZIFIZIERT
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074142115863
Datum:20 Februar 2021
Erschienen in:Journal of Intelligent & Robotic Systems
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:101
DOI:10.1007/s10846-020-01303-z
Verlag:Springer
Name der Reihe:ICAR 2019 Special Issue
ISSN:0921-0296
Status:veröffentlicht
Stichwörter:Autonomous assembly, Sequential Monte Carlo, Compliant manipulation, Sensor fusion, Peg-in-hole, Future manufacturing
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Robotik
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R RO - Robotik
DLR - Teilgebiet (Projekt, Vorhaben):R - Intelligente Mobilität (RM) [RO]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013)
Hinterlegt von: Nottensteiner, Korbinian
Hinterlegt am:14 Jun 2021 00:01
Letzte Änderung:11 Sep 2023 13:24

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